cmake_minimum_required(VERSION 2.8.3)
project(imu_sensor_controller)

find_package(catkin REQUIRED COMPONENTS
  controller_interface
  hardware_interface
  pluginlib
  realtime_tools
  roscpp
  sensor_msgs
)

catkin_package(
  CATKIN_DEPENDS 
    controller_interface
    hardware_interface
    pluginlib
    realtime_tools
    roscpp
    sensor_msgs
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  )

include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})

add_library(${PROJECT_NAME}
  src/imu_sensor_controller.cpp 
  include/imu_sensor_controller/imu_sensor_controller.h)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

# Install
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  )

install(FILES imu_sensor_plugin.xml
              imu_sensor_controller.yaml
              imu_sensor_controller.launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
